Ideas for integration with ros2_control

[marip8]

It would be interesting to integrate various pieces of tesseract with the ROS2 control framework. Some ideas include:

• "Safety" controller that checks collision with the environment to slow/stop the robot before predicted collisions
  • Collision avoidance controller to adjust control input when the robot gets too close to collision
• Trajectory optimization controller (i.e., online planning as a controller)
• Task space controller (i.e., IK controller)